CN114740020A - Flight image capturing method and system - Google Patents
Flight image capturing method and system Download PDFInfo
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- CN114740020A CN114740020A CN202111541041.8A CN202111541041A CN114740020A CN 114740020 A CN114740020 A CN 114740020A CN 202111541041 A CN202111541041 A CN 202111541041A CN 114740020 A CN114740020 A CN 114740020A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
- G01N2021/95638—Inspecting patterns on the surface of objects for PCB's
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Abstract
The invention relates to a flight image capturing method and a flight image capturing system, belongs to the technical field of photoetching, and solves the problem that the flight image capturing in a high-speed running state cannot be realized in the prior art. The flight image capturing method comprises the following steps of S1, platform operation; s2, photographing by a camera; s3, image processing; s4, identifying positioning points; s5, measuring and calculating a position compensation distance; and S6, continuously photographing the positioning points on the platform and identifying the positioning points so as to send the accurate alignment coordinates to the next process. The flying image capturing method has the advantages of high flying image recognition precision and high efficiency.
Description
Technical Field
The invention belongs to the technical field of photoetching, relates to a PCB positioning method and system based on flight image capture, and particularly relates to a high-precision pattern recognition positioning method and system in an ultra-high-speed running state.
Background
In the industrial automatic production process, an industrial camera is required to photograph a workpiece in a motion state so as to obtain and process a workpiece image, and therefore subsequent automatic process actions, such as deviation correction, detection, positioning, correction and the like, are realized according to the workpiece image information.
In the prior art, when a workpiece in a moving state is photographed, the moving state of the workpiece needs to be stopped first, so that the workpiece is in a static state and then is photographed regularly, wherein the workpiece in the moving state is subjected to a plurality of processes such as movement deceleration, static state, photographing and re-acceleration movement, so that the photographing efficiency of the workpiece is low, and further the proceeding of subsequent process actions is influenced. For example, the chinese patent publication No. CN112964721A discloses a multi-target random array flying photography visual detection method and detection system, which adopts a fixed photography or a point-and-motion start-stop manner to photograph, so as to accurately identify the target position on the workpiece through the visual detection method.
The method has low working efficiency, can not keep up with the production progress of high-speed operation completely, can cause errors in the motion process due to continuous starting and stopping, and can cause the reduction of image identification precision due to the fact that the larger the starting and stopping times are, the larger the error superposition is, so that the method has urgent need of providing a flight image capturing device which has high operation speed and precision reaching the micron level, particularly in the field of photoetching.
Disclosure of Invention
The invention aims to provide a high-precision flight image capturing method aiming at the problems in the prior art.
The aim of the invention can be achieved by the following technical scheme:
a flight image capturing method comprises the following steps:
s1; the workpiece is positioned and then runs on the platform;
s2, triggering a camera to take a picture after the workpiece runs to a set position;
s3, processing the acquired image after photographing;
s4, identifying the positioning points in the image and transmitting the positioning points to the control system;
s5, the control system calculates the position compensation distance according to the platform running speed and the camera exposure time; subtracting the compensation distance from the shot positioning point coordinates to obtain the actual positioning point coordinates;
and S6, continuously photographing and identifying the positioning point on the workpiece and calculating the positioning point and sending the positioning point to the control system to feed back the actual coordinates of the positioning point.
The flight image-taking method is applied to the field of photoetching of PCB boards, and because the platform has extremely high running speed which can reach 800-. If the platform movement speed Vp (mm/S), the camera exposure time t (us), and the camera shooting accuracy are 0.0075mm/pixel, the distance S that the platform runs in the exposure time is Vp × t, and S is not more than 0.0075mm/pixel, that is, the accuracy error is less than one pixel, so that the requirement of the alignment accuracy for flying image capture can be met. Therefore, the method shortens the exposure time and increases the power of the exposure light source when the camera takes a picture, so that the camera completes exposure in extreme time, the positioning points in the image can be accurately identified after the exposed image is processed with high precision, the position compensation distance is calculated by the system so as to compensate the running distance of the platform in the exposure process, the acquisition of the actual coordinates of the positioning points is completed, and accurate alignment data is provided for the PCB photoetching.
In the above-mentioned flying image capturing method, the method further includes:
and step S7, calculating the distance difference between the position to be photoetched and the actual coordinate of the positioning point, calculating the time difference between the positioning point and the position to be photoetched according to the platform running speed, and adding the time difference according to the camera photographing time to obtain the time point for photoetching the positioning point.
The purpose of the flying image capture is to identify the precise coordinates of the positioning points on the PCB to achieve precise alignment during exposure, so that the distance difference between the flying image capture station and the exposure station also needs to be precisely calculated, and the time point of the exposure of the lithography machine is calculated according to the distance difference to achieve precise alignment, so that step S7 is to calculate the time difference between the platform and the lithography station to achieve the exposure after precise alignment.
In the above-mentioned flying image capturing method, in step S5, the position compensation distance calculation formula is as follows:
when the platform movement speed Vp is 0, the time t1 from sending the signal to feeding back the signal is measured; the position compensation distance S is Vp t1, and the coordinate of the Y is Ypos-S.
t1 is the feedback time of the calculated information, Y is the Y-axis actual coordinate of the positioning point when the platform runs, Ypos is the display coordinate of the positioning point when the camera shoots, and the Y-axis actual coordinate value of the positioning point can be calculated by considering the information feedback time (usually, microsecond), and calculating the actual running distance of the platform in the information feedback time as the position compensation distance.
In the above flying image capturing method, in step S2, the camera is triggered to take a picture as a hard trigger, that is, the camera is directly triggered to take a picture after the external system detects that the workpiece moves to a certain set position. The hard trigger is not processed by a control system and is similar to mechanical trigger, so that the photographing time delay is short and the exposure time is controllable.
In the above flying image capturing method, in step S2, the triggering of the camera to take a picture further includes soft triggering, that is, the control system sets the platform operating time or distance, and triggers the camera to take a picture after the set time or distance is reached. Due to the adoption of software setting, the triggering needs to pay attention to the position information fed back by the software in real time, so the soft triggering can generate time delay, and even if the time delay is compensated through calculation, the compensation effect is not ideal because certain errors exist in both camera shooting and platform operation.
In the foregoing flying image capturing method, the step S2 further includes the step S2.1: the light source is turned on.
In the above flying image capturing method, the light source is yellow light and/or red light. According to the requirements of the identified workpiece, the yellow light and the red light can be respectively turned on, or the yellow light and the red light can be turned on simultaneously so as to meet the use requirements of different scenes.
In the above flying image capturing method, the driving voltage of the light source is 24V or 48V. Because the exposure time of the camera is extreme, in order to obtain image information in a short time, the brightness of the light source must be increased, generally in a flying shooting state, the light source is driven by 48V, so that more efficient and faster light source response is provided, and in a debugging mode or a fixed shooting mode, a 24V light source can be adopted to reduce the problem of image processing difficulty caused by exposure transition.
Another object of the present invention is to provide a flying image capturing system, which comprises:
a platform operation module: the device is used for conveying the workpiece to be exposed on the platform in a set running direction;
an image capturing module: the device is arranged above the platform and used for photographing the workpiece running on the platform;
an image processing module: the image acquisition module is used for processing the image shot by the image acquisition module, and the control system can conveniently identify the positioning points in the image;
the control system comprises: and the positioning device is used for calculating the actual position of the positioning point in the image according to the platform running speed, the exposure time of the image capturing module and the like and sending the actual position to the next station to execute the next process.
In the above mentioned flying image capturing system, further comprising:
the machine control module: the image capturing module is used for controlling the operation of the platform and feeding back the operation position of the workpiece on the operation platform to the image capturing module to trigger the image capturing module to execute the photographing action.
In the above flying image capturing system, the control system further includes a software triggering unit, configured to send an instruction to the image capturing module to trigger the image capturing module to perform a photographing operation according to software design time or distance.
In the above-mentioned flying image capture system, the system further comprises a light source module for providing a light source when the image capture module is exposed, so as to improve the photographing precision.
Compared with the prior art, the invention utilizes the high-definition camera to photograph the platform running at high speed in extremely short exposure time, then carries out image processing to accurately identify the positioning point, facilitates the alignment of the PCB during photoetching, calculates the error caused by the exposure time length in a position distance compensation mode, realizes the accurate identification of the positioning point coordinate in the high-speed running state of the platform, facilitates the completion of accurate alignment in the photoetching exposure of the next procedure, effectively improves the alignment accuracy of the PCB in the high-speed running state, does not need to stop in the alignment and photoetching processes, utilizes the flight image capturing system and the flight image capturing method to realize the accurate alignment and exposure of the PCB in the high-speed running state, and has the advantages of high flying image capturing identification accuracy and high efficiency.
Drawings
Fig. 1 is a schematic diagram of the working process of the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The flight imaging system and the flight imaging method are applied to the field of photoetching of PCB boards, and because the platform has extremely high operating speed which can reach 800 plus 1000mm/S generally and the photoetching precision requirement is also extremely high, generally in micron order, the flight imaging positioning precision also puts forward an extremely high requirement, and the shooting precision error is generally required to be within one pixel. If the platform movement speed Vp (mm/S), the camera exposure time t (us), and the camera shooting accuracy are 0.0075mm/pixel, the distance S that the platform runs in the exposure time is Vp × t, and S is not more than 0.0075mm/pixel, that is, the accuracy error is less than one pixel, so that the requirement of the alignment accuracy for flying image capture can be met. Therefore, the method shortens the exposure time and increases the power of the exposure light source when the camera takes a picture, so that the camera completes exposure in extreme time, the positioning points in the image can be accurately identified after the exposed image is processed with high precision, the position compensation distance is calculated by the system so as to compensate the running distance of the platform in the exposure process, the acquisition of the actual coordinates of the positioning points is completed, and accurate alignment data is provided for the PCB photoetching.
This flight is got for instance system and is included:
a platform operation module: the device is used for conveying the workpiece to be exposed on the platform in a set running direction;
an image capturing module: the device is arranged above the platform and used for photographing the workpiece running on the platform;
an image processing module: the image acquisition module is used for processing the image shot by the image acquisition module, and the control system can conveniently identify the positioning points in the image;
the control system comprises: the system is used for calculating the actual position of a positioning point in an image according to the platform running speed, the exposure time of the image capturing module and the like and sending the actual position to the next station to execute the next procedure;
the machine control module: the image capturing module is used for controlling the operation of the platform and feeding back the operation position of the workpiece on the operation platform to the image capturing module to trigger the image capturing module to execute the photographing action.
The image capturing module further comprises a light source module for providing a light source when the image capturing module is exposed so as to improve the photographing precision. The light source is yellow light and/or red light. According to the requirements of the identified workpiece, the yellow light and the red light can be respectively started, or the yellow light and the red light can be simultaneously started so as to meet the use requirements of different scenes. The driving voltage of the light source is 24V or 48V. Because the exposure time of the camera is extreme, in order to obtain image information in a short time, the brightness of the light source must be increased, generally in a flying shooting state, the light source is driven by 48V, so that more efficient and faster light source response is provided, and in a debugging mode or a fixed shooting mode, a 24V light source can be adopted to reduce the problem of image processing difficulty caused by exposure transition.
The control system also comprises a software triggering unit which is used for sending an instruction to the image capturing module to trigger the image capturing module to execute the photographing action according to the software design time or distance.
As shown in fig. 1, the image capturing method of the flying image capturing system includes the following steps:
s1; the workpiece is positioned and then runs on the platform;
s2, triggering a camera to take a picture after the workpiece runs to a set position, and meanwhile, starting a light source to illuminate;
s3, processing the acquired image after photographing;
s4, identifying positioning points in the image and transmitting the positioning points to a control system;
s5, the control system calculates the position compensation distance according to the platform running speed and the camera exposure time; subtracting the compensation distance from the shot positioning point coordinates to obtain the actual positioning point coordinates;
s6, continuously photographing and identifying the positioning points on the workpiece, calculating and sending the positioning points to the control system to feed back the actual coordinates of the positioning points;
and step S7, calculating the distance difference between the position to be photoetched and the actual coordinate of the positioning point, calculating the time difference between the positioning point and the position to be photoetched according to the platform running speed, and adding the time difference according to the camera photographing time to obtain the time point for photoetching the positioning point.
The purpose of the flying image capture is to identify the precise coordinates of the positioning points on the PCB to achieve precise alignment during exposure, so that the distance difference between the flying image capture station and the exposure station also needs to be precisely calculated, and the time point of the exposure of the lithography machine is calculated according to the distance difference to achieve precise alignment, so that step S7 is to calculate the time difference between the platform and the lithography station to achieve the exposure after precise alignment.
In step S5, the position compensation distance calculation formula is as follows:
when the platform movement speed Vp is 0, the time t1 from sending the signal to feeding back the signal is measured; the position compensation distance S is Vp t1, and the coordinate of the Y is Ypos-S.
t1 is the feedback time of the calculated information, Y is the Y-axis actual coordinate of the positioning point when the platform runs, Ypos is the display coordinate of the positioning point when the camera shoots, and the Y-axis actual coordinate value of the positioning point can be calculated by considering the information feedback time (usually, microsecond), and calculating the actual running distance of the platform in the information feedback time as the position compensation distance.
In step S2, the camera is triggered to take a picture as a hard trigger, that is, the camera is directly triggered to take a picture after the external system detects that the workpiece moves to a certain set position. The hard trigger is not processed by a control system and is similar to mechanical trigger, so that the photographing time delay is short and the exposure time is controllable.
In step S2, the triggering of the camera to take a picture further includes soft triggering, that is, the control system sets the operating time or distance of the platform, and triggers the camera to take a picture after the set time or distance is reached. Due to the adoption of software setting, the triggering needs to pay attention to the position information fed back by the software in real time, so the soft triggering can generate time delay, and even if the time delay is compensated through calculation, the compensation effect is not ideal because certain errors exist in both camera shooting and platform operation.
The invention utilizes the high-definition camera to photograph the platform running at high speed in extremely short exposure time, then carries out image processing to accurately identify the positioning point, facilitates the alignment of the PCB during photoetching, calculates the error caused by the exposure time length in a position distance compensation mode, realizes the accurate identification of the positioning point coordinate in the high-speed running state of the platform, facilitates the completion of accurate alignment in the photoetching exposure of the next procedure, effectively improves the alignment accuracy of the PCB in the high-speed running state, does not need to stop in the alignment and photoetching processes, realizes the accurate alignment and exposure of the PCB in the high-speed running state by utilizing the flight image capturing system and the flight image capturing method, and has the advantages of high aerial photograph identification accuracy and high efficiency.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (12)
1. A flight image capturing method comprises the following steps:
s1; the workpiece is positioned and then runs on the platform;
s2, triggering a camera to take a picture after the workpiece runs to a set position;
s3, processing the acquired image after photographing;
s4, identifying the positioning points in the image and transmitting the positioning points to the control system;
s5, the control system calculates the position compensation distance according to the platform running speed and the camera exposure time; subtracting the compensation distance from the shot positioning point coordinates to obtain the actual positioning point coordinates;
and S6, continuously photographing and identifying the positioning point on the workpiece and calculating the positioning point and sending the positioning point to the control system to feed back the actual coordinates of the positioning point.
2. The flying image capture method of claim 1, further comprising:
and step S7, calculating the distance difference between the position to be photoetched and the actual coordinate of the positioning point, calculating the time difference between the positioning point and the position to be photoetched according to the platform running speed, and adding the time difference according to the camera photographing time to obtain the time point for photoetching the positioning point.
3. The flying image capture method as claimed in claim 1, wherein in step S5, the position compensation distance calculation formula is as follows:
when the platform movement speed Vp is 0, the time t1 from sending of the signal to feedback is measured (information feedback time is calculated); the position compensation distance S is Vp t1, and the coordinate of the Y is Ypos-S.
4. A flying image capture method as claimed in claim 1, 2 or 3, wherein in step S2, the camera is triggered to take a picture as a hard trigger, that is, after the external system detects that the workpiece has moved to a certain set position, the camera is directly triggered to take a picture.
The hard trigger is not processed by a control system and is similar to mechanical trigger, so that the photographing time delay is short and the exposure time is controllable.
5. The method for capturing images as claimed in claim 1, 2 or 3, wherein the triggering step S2 further includes a soft trigger, in which the control system sets a platform operation time or distance, and triggers the camera to capture images after the set time or distance is reached.
Due to the adoption of software setting, the triggering needs to pay attention to the position information fed back by the software in real time, so the soft triggering can generate time delay, and even if the time delay is compensated through calculation, the compensation effect is not ideal because certain errors exist in both camera shooting and platform operation.
6. A flying image capture method as claimed in claim 1, 2 or 3, wherein the step S2 further comprises the step S2.1: the light source is turned on.
7. The flying image capture method as claimed in claim 1, 2 or 3, wherein the light source is yellow light and/or red light.
8. The method for imaging flying images as claimed in claim 7, wherein the driving voltage of the light source is 24V or 48V.
9. A flying imaging system, comprising:
a platform operation module: the device is used for conveying the workpiece to be exposed on the platform in a set running direction;
an image capturing module: the device is arranged above the platform and used for photographing the workpiece running on the platform;
an image processing module: the image acquisition module is used for processing the image shot by the image acquisition module, and the control system can conveniently identify the positioning points in the image;
the control system comprises: and the image capturing module is used for calculating the actual position of the positioning point in the image according to the platform running speed, the exposure time of the image capturing module and the like and sending the actual position to the next station to execute the next process.
10. The flying imaging system as claimed in claim 9, further comprising:
the machine control module: the image capturing module is used for controlling the operation of the platform and feeding back the operation position of the workpiece on the operation platform to the image capturing module to trigger the image capturing module to execute the photographing action.
11. The system for capturing images in flight as claimed in claim 9 or 10, wherein the control system further comprises a software triggering unit, configured to send an instruction to the image capturing module to trigger the image capturing module to perform a photographing operation according to software design time or distance.
12. A flying image-taking system as claimed in claim 9 or 10, further comprising a light source module for providing a light source when the image-taking module is exposed to light to improve the photographing accuracy.
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| CN202111541041.8A CN114740020A (en) | 2021-12-16 | 2021-12-16 | Flight image capturing method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115586197A (en) * | 2022-10-08 | 2023-01-10 | 苏州矩浪科技有限公司 | Visual inspection equipment and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115586197A (en) * | 2022-10-08 | 2023-01-10 | 苏州矩浪科技有限公司 | Visual inspection equipment and system |
| CN115586197B (en) * | 2022-10-08 | 2023-10-03 | 苏州矩浪科技有限公司 | Visual inspection device and system |
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